function sys=plant(t,x,ut,dt)
sys=zeros(4,1);

A = [0 1 0 1;0 0 1 0;0 0 0 1;-6 -2.92 -1.2 1];
B = [0 0;0 0;1 0;0 1];
D = [0.2 0.3;0.2 0.4;0 0;0 0.4];

result = A*x + B*ut + D*dt;
sys(1) = result(1);
sys(2) = result(2);
sys(3) = result(3);
sys(4) = result(4);
